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截瘫患者必须依赖辅具才能保证正常生活,而站立和行走是他们最迫切的需求。该文介绍了一种采用机械结构设计的动力下肢外骨骼,旨在帮助截瘫患者实现交替行走并提高其在康复训练中的参与度。该系统主要包括足底轮式驱动外骨骼和无线控制肘拐2部分。其中外骨骼由置于足底的定制轮毂电机驱动,而肘拐作为辅助器件主要用于保证行走平衡并通过内嵌的无线控制器控制外骨骼行走状态。交替按压左右肘拐上的控制按键可以实现连续行走,而整个行走过程可以完全由使用者实时地掌控。该外骨骼同时设计了电子刹车和最大步长机械限位用以保证使用安全。由一位健康受试者在三维步态分析系统中完成了穿外骨骼和不穿外骨骼情况下的运动对比实验。步态时空参数和运动学曲线表明:该外骨骼可辅助使用者安全而平稳地完成直立行走。
Paraplegic patients must rely on aids to ensure normal life, and standing and walking are their most pressing needs. This paper presents a mechanically designed exoskeleton exoskeleton designed to help paraplegic patients to walk alternately and increase their participation in rehabilitation training. The system mainly includes the foot wheel drive exoskeleton and wireless control elbow 2 parts. The exoskeleton is powered by a custom hub motor placed on the soles of the feet, while the elbow is used as a secondary device to balance the walking balance and to control the exoskeleton’s walking status via an embedded wireless controller. Alternately press the control buttons on the left and right elbow can achieve continuous walking, and the entire walking process can be completely controlled by the user in real time. The exoskeleton also designed electronic brake and the maximum step of the mechanical limit to ensure safe use. A healthy subject completed a motor-control experiment with or without exoskeleton in a three-dimensional gait analysis system. The gait spatio-temporal parameters and kinematic curves show that the exoskeleton can assist the user in safely and smoothly completing the upright walking.